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  1. # Generated by stepconf 1.1 at Mon Dec 31 19:45:32 2007
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt trivkins
  5. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  6. loadrt hal_parport cfg="0x378 out"
  7. setp parport.0.reset-time 5000
  8. loadrt stepgen step_type=0,0,0
  9. loadrt pwmgen output_type=1
  10.  
  11. addf parport.0.read base-thread
  12. addf stepgen.make-pulses base-thread
  13. addf pwmgen.make-pulses base-thread
  14. addf parport.0.write base-thread
  15. addf parport.0.reset base-thread
  16.  
  17. addf stepgen.capture-position servo-thread
  18. addf motion-command-handler servo-thread
  19. addf motion-controller servo-thread
  20. addf stepgen.update-freq servo-thread
  21. addf pwmgen.update servo-thread
  22.  
  23. net spindle-cmd-rpm => pwmgen.0.value
  24. net spindle-on <= motion.spindle-on => pwmgen.0.enable
  25. net spindle-pwm <= pwmgen.0.pwm
  26. setp pwmgen.0.pwm-freq 400.0
  27. setp pwmgen.0.scale 24000.0
  28. setp pwmgen.0.offset 0.0
  29. setp pwmgen.0.dither-pwm true
  30. net spindle-cmd-rpm <= motion.spindle-speed-out
  31. net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
  32. net spindle-cmd-rps <= motion.spindle-speed-out-rps
  33. net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  34. net spindle-at-speed => motion.spindle-at-speed
  35.  
  36. net probe-in => motion.probe-input
  37.  
  38. setp parport.0.pin-01-out-invert 1
  39. net spindle-pwm => parport.0.pin-01-out
  40. setp parport.0.pin-02-out-invert 1
  41. net xstep => parport.0.pin-02-out
  42. setp parport.0.pin-02-out-reset 1
  43. setp parport.0.pin-03-out-invert 1
  44. net xdir => parport.0.pin-03-out
  45. setp parport.0.pin-04-out-invert 1
  46. net ystep => parport.0.pin-04-out
  47. setp parport.0.pin-04-out-reset 1
  48. setp parport.0.pin-05-out-invert 1
  49. net ydir => parport.0.pin-05-out
  50. setp parport.0.pin-06-out-invert 1
  51. net zstep => parport.0.pin-06-out
  52. setp parport.0.pin-06-out-reset 1
  53. setp parport.0.pin-07-out-invert 1
  54. net zdir => parport.0.pin-07-out
  55. setp parport.0.pin-08-out-invert 1
  56. net astep => parport.0.pin-08-out
  57. setp parport.0.pin-08-out-reset 1
  58. setp parport.0.pin-09-out-invert 1
  59. net adir => parport.0.pin-09-out
  60. net xenable => parport.0.pin-14-out
  61. net spindle-on => parport.0.pin-17-out
  62. net estop-ext <= parport.0.pin-10-in-not
  63. net probe-in <= parport.0.pin-11-in-not
  64. net both-x <= parport.0.pin-12-in-not
  65. net both-y <= parport.0.pin-13-in-not
  66. net both-z <= parport.0.pin-15-in-not
  67.  
  68. setp stepgen.0.position-scale [AXIS_0]SCALE
  69. setp stepgen.0.steplen 1
  70. setp stepgen.0.stepspace 0
  71. setp stepgen.0.dirhold 50000
  72. setp stepgen.0.dirsetup 50000
  73. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  74. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  75. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  76. net xstep <= stepgen.0.step
  77. net xdir <= stepgen.0.dir
  78. net xenable axis.0.amp-enable-out => stepgen.0.enable
  79. net both-x => axis.0.neg-lim-sw-in
  80. net both-x => axis.0.pos-lim-sw-in
  81.  
  82. setp stepgen.1.position-scale [AXIS_1]SCALE
  83. setp stepgen.1.steplen 1
  84. setp stepgen.1.stepspace 0
  85. setp stepgen.1.dirhold 50000
  86. setp stepgen.1.dirsetup 50000
  87. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  88. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  89. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  90. net ystep <= stepgen.1.step
  91. net ydir <= stepgen.1.dir
  92. net yenable axis.1.amp-enable-out => stepgen.1.enable
  93. net both-y => axis.1.neg-lim-sw-in
  94. net both-y => axis.1.pos-lim-sw-in
  95.  
  96. setp stepgen.2.position-scale [AXIS_2]SCALE
  97. setp stepgen.2.steplen 1
  98. setp stepgen.2.stepspace 0
  99. setp stepgen.2.dirhold 50000
  100. setp stepgen.2.dirsetup 50000
  101. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  102. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  103. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  104. net zstep <= stepgen.2.step
  105. net zdir <= stepgen.2.dir
  106. net zenable axis.2.amp-enable-out => stepgen.2.enable
  107. net both-z => axis.2.neg-lim-sw-in
  108. net both-z => axis.2.pos-lim-sw-in
  109.  
  110. net estop-out <= iocontrol.0.user-enable-out
  111. net estop-ext => iocontrol.0.emc-enable-in
  112.  
  113. loadusr -W hal_manualtoolchange
  114. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  115. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  116. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  117. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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